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<div class="textblock"><p><b>New Product</b></p>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone"></th><th class="markdownTableHeadNone"></th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">Project File </td><td class="markdownTableBodyNone">DS301_profile.xpd  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">File Version </td><td class="markdownTableBodyNone">1  </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">Created </td><td class="markdownTableBodyNone">23. 11. 2020 12:00:00  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">Created By </td><td class="markdownTableBodyNone"></td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">Modified </td><td class="markdownTableBodyNone">24. 11. 2020 13:31:53  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">Modified By </td><td class="markdownTableBodyNone"></td></tr>
</table>
<p>This file was automatically generated with <a href="https://github.com/robincornelius/libedssharp">libedssharp</a> Object Dictionary Editor v0.8-99-g0425f94</p>
<ul>
<li><a href="#device-information">Device Information</a></li>
<li><a href="#pdo-mapping">PDO Mapping</a></li>
<li><a href="#communication-specific-parameters">Communication Specific Parameters</a></li>
<li><a href="#manufacturer-specific-parameters">Manufacturer Specific Parameters</a></li>
<li><a href="#device-profile-specific-parameters">Device Profile Specific Parameters</a></li>
</ul>
<h1><a class="anchor" id="device-information"></a>
Device Information</h1>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone"></th><th class="markdownTableHeadNone"></th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">Vendor Name </td><td class="markdownTableBodyNone"></td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">Vendor ID </td><td class="markdownTableBodyNone"></td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">Product Name </td><td class="markdownTableBodyNone">New Product  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">Product ID </td><td class="markdownTableBodyNone"></td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">Granularity </td><td class="markdownTableBodyNone">8  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">RPDO count </td><td class="markdownTableBodyNone">4  </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">TPDO count </td><td class="markdownTableBodyNone">4  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">LSS Slave </td><td class="markdownTableBodyNone">True  </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">LSS Master </td><td class="markdownTableBodyNone">False  </td></tr>
</table>
<h3>Supported Baud rates</h3>
<ul>
<li>[x] 10 kBit/s</li>
<li>[x] 20 kBit/s</li>
<li>[x] 50 kBit/s</li>
<li>[x] 125 kBit/s</li>
<li>[x] 250 kBit/s</li>
<li>[x] 500 kBit/s</li>
<li>[x] 800 kBit/s</li>
<li>[x] 1000 kBit/s</li>
<li>[ ] auto</li>
</ul>
<h1><a class="anchor" id="pdo-mapping"></a>
PDO Mapping</h1>
<h1><a class="anchor" id="communication-specific-parameters"></a>
Communication Specific Parameters</h1>
<h2>0x1000 - Device type</h2>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Object Type </th><th class="markdownTableHeadNone">Count Label </th><th class="markdownTableHeadNone">Storage Group </th><th class="markdownTableHeadNone">IO extension </th><th class="markdownTableHeadNone">PDO flags  </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">VAR </td><td class="markdownTableBodyNone">NMT </td><td class="markdownTableBodyNone">PERSIST_COMM </td><td class="markdownTableBodyNone">False </td><td class="markdownTableBodyNone">False  </td></tr>
</table>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Data Type </th><th class="markdownTableHeadNone">SDO </th><th class="markdownTableHeadNone">PDO </th><th class="markdownTableHeadNone">SRDO </th><th class="markdownTableHeadNone">Default Value  </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">ro </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
</table>
<ul>
<li>bit 16-31: Additional information</li>
<li>bit 0-15: Device profile number</li>
</ul>
<h2>0x1001 - Error register</h2>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Object Type </th><th class="markdownTableHeadNone">Count Label </th><th class="markdownTableHeadNone">Storage Group </th><th class="markdownTableHeadNone">IO extension </th><th class="markdownTableHeadNone">PDO flags  </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">VAR </td><td class="markdownTableBodyNone">EM </td><td class="markdownTableBodyNone">RAM </td><td class="markdownTableBodyNone">False </td><td class="markdownTableBodyNone">False  </td></tr>
</table>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Data Type </th><th class="markdownTableHeadNone">SDO </th><th class="markdownTableHeadNone">PDO </th><th class="markdownTableHeadNone">SRDO </th><th class="markdownTableHeadNone">Default Value  </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">UNSIGNED8 </td><td class="markdownTableBodyNone">ro </td><td class="markdownTableBodyNone">tr </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00  </td></tr>
</table>
<ul>
<li>bit 7: manufacturer specific</li>
<li>bit 6: Reserved (always 0)</li>
<li>bit 5: device profile specific</li>
<li>bit 4: communication error (overrun, error state)</li>
<li>bit 3: temperature</li>
<li>bit 2: voltage</li>
<li>bit 1: current</li>
<li>bit 0: generic error</li>
</ul>
<h2>0x1003 - Pre-defined error field</h2>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Object Type </th><th class="markdownTableHeadNone">Count Label </th><th class="markdownTableHeadNone">Storage Group </th><th class="markdownTableHeadNone">IO extension </th><th class="markdownTableHeadNone">PDO flags  </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">ARRAY </td><td class="markdownTableBodyNone"></td><td class="markdownTableBodyNone">RAM </td><td class="markdownTableBodyNone">True </td><td class="markdownTableBodyNone">False  </td></tr>
</table>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Sub </th><th class="markdownTableHeadNone">Name </th><th class="markdownTableHeadNone">Data Type </th><th class="markdownTableHeadNone">SDO </th><th class="markdownTableHeadNone">PDO </th><th class="markdownTableHeadNone">SRDO </th><th class="markdownTableHeadNone">Default Value  </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x00 </td><td class="markdownTableBodyNone">Number of errors </td><td class="markdownTableBodyNone">UNSIGNED8 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x01 </td><td class="markdownTableBodyNone">Standard error field </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">ro </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x02 </td><td class="markdownTableBodyNone">Standard error field </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">ro </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x03 </td><td class="markdownTableBodyNone">Standard error field </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">ro </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x04 </td><td class="markdownTableBodyNone">Standard error field </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">ro </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x05 </td><td class="markdownTableBodyNone">Standard error field </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">ro </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x06 </td><td class="markdownTableBodyNone">Standard error field </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">ro </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x07 </td><td class="markdownTableBodyNone">Standard error field </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">ro </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x08 </td><td class="markdownTableBodyNone">Standard error field </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">ro </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
</table>
<ul>
<li>Sub Index 0: Contains number of actual errors. 0 can be written to clear error history.</li>
<li>sub-index 1 and above:<ul>
<li>bit 16-31: Manufacturer specific additional information</li>
<li>bit 0-15: Error code as transmited in the Emergency object</li>
</ul>
</li>
</ul>
<h2>0x1005 - COB-ID SYNC message</h2>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Object Type </th><th class="markdownTableHeadNone">Count Label </th><th class="markdownTableHeadNone">Storage Group </th><th class="markdownTableHeadNone">IO extension </th><th class="markdownTableHeadNone">PDO flags  </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">VAR </td><td class="markdownTableBodyNone">SYNC </td><td class="markdownTableBodyNone">PERSIST_COMM </td><td class="markdownTableBodyNone">True </td><td class="markdownTableBodyNone">False  </td></tr>
</table>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Data Type </th><th class="markdownTableHeadNone">SDO </th><th class="markdownTableHeadNone">PDO </th><th class="markdownTableHeadNone">SRDO </th><th class="markdownTableHeadNone">Default Value  </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000080  </td></tr>
</table>
<ul>
<li>bit 31: set to 0</li>
<li>bit 30: If set, CANopen device generates SYNC object</li>
<li>bit 11-29: set to 0</li>
<li>bit 0-10: 11-bit CAN-ID</li>
</ul>
<h2>0x1006 - Communication cycle period</h2>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Object Type </th><th class="markdownTableHeadNone">Count Label </th><th class="markdownTableHeadNone">Storage Group </th><th class="markdownTableHeadNone">IO extension </th><th class="markdownTableHeadNone">PDO flags  </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">VAR </td><td class="markdownTableBodyNone">SYNC_PROD </td><td class="markdownTableBodyNone">PERSIST_COMM </td><td class="markdownTableBodyNone">True </td><td class="markdownTableBodyNone">False  </td></tr>
</table>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Data Type </th><th class="markdownTableHeadNone">SDO </th><th class="markdownTableHeadNone">PDO </th><th class="markdownTableHeadNone">SRDO </th><th class="markdownTableHeadNone">Default Value  </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0  </td></tr>
</table>
<p>Period of SYNC transmission in µs (0 = transmission disabled).</p>
<h2>0x1007 - Synchronous window length</h2>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Object Type </th><th class="markdownTableHeadNone">Count Label </th><th class="markdownTableHeadNone">Storage Group </th><th class="markdownTableHeadNone">IO extension </th><th class="markdownTableHeadNone">PDO flags  </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">VAR </td><td class="markdownTableBodyNone"></td><td class="markdownTableBodyNone">PERSIST_COMM </td><td class="markdownTableBodyNone">True </td><td class="markdownTableBodyNone">False  </td></tr>
</table>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Data Type </th><th class="markdownTableHeadNone">SDO </th><th class="markdownTableHeadNone">PDO </th><th class="markdownTableHeadNone">SRDO </th><th class="markdownTableHeadNone">Default Value  </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0  </td></tr>
</table>
<p>Synchronous window leghth in µs (0 = not used). All synchronous PDOs must be transmitted within this time window.</p>
<h2>0x1010 - Store parameters</h2>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Object Type </th><th class="markdownTableHeadNone">Count Label </th><th class="markdownTableHeadNone">Storage Group </th><th class="markdownTableHeadNone">IO extension </th><th class="markdownTableHeadNone">PDO flags  </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">ARRAY </td><td class="markdownTableBodyNone"></td><td class="markdownTableBodyNone">RAM </td><td class="markdownTableBodyNone">True </td><td class="markdownTableBodyNone">False  </td></tr>
</table>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Sub </th><th class="markdownTableHeadNone">Name </th><th class="markdownTableHeadNone">Data Type </th><th class="markdownTableHeadNone">SDO </th><th class="markdownTableHeadNone">PDO </th><th class="markdownTableHeadNone">SRDO </th><th class="markdownTableHeadNone">Default Value  </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x00 </td><td class="markdownTableBodyNone">Highest sub-index supported </td><td class="markdownTableBodyNone">UNSIGNED8 </td><td class="markdownTableBodyNone">ro </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x04  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x01 </td><td class="markdownTableBodyNone">Save all parameters </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000001  </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x02 </td><td class="markdownTableBodyNone">Save communication parameters </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000001  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x03 </td><td class="markdownTableBodyNone">Save application parameters </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000001  </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x04 </td><td class="markdownTableBodyNone">Save manufacturer defined parameters </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000001  </td></tr>
</table>
<p>Sub-indexes 1 and above:</p><ul>
<li>Reading provides information about its storage functionality:<ul>
<li>bit 1: If set, CANopen device saves parameters autonomously</li>
<li>bit 0: If set, CANopen device saves parameters on command</li>
</ul>
</li>
<li>Writing value 0x65766173 ('s','a','v','e' from LSB to MSB) stores corresponding data.</li>
</ul>
<h2>0x1011 - Restore default parameters</h2>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Object Type </th><th class="markdownTableHeadNone">Count Label </th><th class="markdownTableHeadNone">Storage Group </th><th class="markdownTableHeadNone">IO extension </th><th class="markdownTableHeadNone">PDO flags  </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">ARRAY </td><td class="markdownTableBodyNone"></td><td class="markdownTableBodyNone">RAM </td><td class="markdownTableBodyNone">True </td><td class="markdownTableBodyNone">False  </td></tr>
</table>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Sub </th><th class="markdownTableHeadNone">Name </th><th class="markdownTableHeadNone">Data Type </th><th class="markdownTableHeadNone">SDO </th><th class="markdownTableHeadNone">PDO </th><th class="markdownTableHeadNone">SRDO </th><th class="markdownTableHeadNone">Default Value  </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x00 </td><td class="markdownTableBodyNone">Highest sub-index supported </td><td class="markdownTableBodyNone">UNSIGNED8 </td><td class="markdownTableBodyNone">ro </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x04  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x01 </td><td class="markdownTableBodyNone">Restore all default parameters </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000001  </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x02 </td><td class="markdownTableBodyNone">Restore communication default parameters </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000001  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x03 </td><td class="markdownTableBodyNone">Restore application default parameters </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000001  </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x04 </td><td class="markdownTableBodyNone">Restore manufacturer defined default parameters </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000001  </td></tr>
</table>
<p>Sub-indexes 1 and above:</p><ul>
<li>Reading provides information about its restoring capability:<ul>
<li>bit 0: If set, CANopen device restores parameters</li>
</ul>
</li>
<li>Writing value 0x64616F6C ('l','o','a','d' from LSB to MSB) restores corresponding data.</li>
</ul>
<h2>0x1012 - COB-ID time stamp object</h2>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Object Type </th><th class="markdownTableHeadNone">Count Label </th><th class="markdownTableHeadNone">Storage Group </th><th class="markdownTableHeadNone">IO extension </th><th class="markdownTableHeadNone">PDO flags  </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">VAR </td><td class="markdownTableBodyNone">TIME </td><td class="markdownTableBodyNone">PERSIST_COMM </td><td class="markdownTableBodyNone">True </td><td class="markdownTableBodyNone">False  </td></tr>
</table>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Data Type </th><th class="markdownTableHeadNone">SDO </th><th class="markdownTableHeadNone">PDO </th><th class="markdownTableHeadNone">SRDO </th><th class="markdownTableHeadNone">Default Value  </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000100  </td></tr>
</table>
<ul>
<li>bit 31: If set, CANopen device consumes TIME message</li>
<li>bit 30: If set, CANopen device produces TIME message</li>
<li>bit 11-29: set to 0</li>
<li>bit 0-10: 11-bit CAN-ID</li>
</ul>
<h2>0x1014 - COB-ID EMCY</h2>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Object Type </th><th class="markdownTableHeadNone">Count Label </th><th class="markdownTableHeadNone">Storage Group </th><th class="markdownTableHeadNone">IO extension </th><th class="markdownTableHeadNone">PDO flags  </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">VAR </td><td class="markdownTableBodyNone">EM_PROD </td><td class="markdownTableBodyNone">PERSIST_COMM </td><td class="markdownTableBodyNone">True </td><td class="markdownTableBodyNone">False  </td></tr>
</table>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Data Type </th><th class="markdownTableHeadNone">SDO </th><th class="markdownTableHeadNone">PDO </th><th class="markdownTableHeadNone">SRDO </th><th class="markdownTableHeadNone">Default Value  </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x80+$NODEID  </td></tr>
</table>
<ul>
<li>bit 31: If set, EMCY does NOT exist / is NOT valid</li>
<li>bit 11-30: set to 0</li>
<li>bit 0-10: 11-bit CAN-ID</li>
</ul>
<h2>0x1015 - Inhibit time EMCY</h2>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Object Type </th><th class="markdownTableHeadNone">Count Label </th><th class="markdownTableHeadNone">Storage Group </th><th class="markdownTableHeadNone">IO extension </th><th class="markdownTableHeadNone">PDO flags  </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">VAR </td><td class="markdownTableBodyNone"></td><td class="markdownTableBodyNone">PERSIST_COMM </td><td class="markdownTableBodyNone">True </td><td class="markdownTableBodyNone">False  </td></tr>
</table>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Data Type </th><th class="markdownTableHeadNone">SDO </th><th class="markdownTableHeadNone">PDO </th><th class="markdownTableHeadNone">SRDO </th><th class="markdownTableHeadNone">Default Value  </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">UNSIGNED16 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0  </td></tr>
</table>
<p>Inhibit time of emergency message in multiples of 100µs. The value 0 disables the inhibit time.</p>
<h2>0x1016 - Consumer heartbeat time</h2>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Object Type </th><th class="markdownTableHeadNone">Count Label </th><th class="markdownTableHeadNone">Storage Group </th><th class="markdownTableHeadNone">IO extension </th><th class="markdownTableHeadNone">PDO flags  </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">ARRAY </td><td class="markdownTableBodyNone">HB_CONS </td><td class="markdownTableBodyNone">PERSIST_COMM </td><td class="markdownTableBodyNone">True </td><td class="markdownTableBodyNone">False  </td></tr>
</table>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Sub </th><th class="markdownTableHeadNone">Name </th><th class="markdownTableHeadNone">Data Type </th><th class="markdownTableHeadNone">SDO </th><th class="markdownTableHeadNone">PDO </th><th class="markdownTableHeadNone">SRDO </th><th class="markdownTableHeadNone">Default Value  </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x00 </td><td class="markdownTableBodyNone">Highest sub-index supported </td><td class="markdownTableBodyNone">UNSIGNED8 </td><td class="markdownTableBodyNone">ro </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x08  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x01 </td><td class="markdownTableBodyNone">Consumer heartbeat time </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x02 </td><td class="markdownTableBodyNone">Consumer heartbeat time </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x03 </td><td class="markdownTableBodyNone">Consumer heartbeat time </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x04 </td><td class="markdownTableBodyNone">Consumer heartbeat time </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x05 </td><td class="markdownTableBodyNone">Consumer heartbeat time </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x06 </td><td class="markdownTableBodyNone">Consumer heartbeat time </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x07 </td><td class="markdownTableBodyNone">Consumer heartbeat time </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x08 </td><td class="markdownTableBodyNone">Consumer heartbeat time </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
</table>
<p>Consumer Heartbeat Time:</p><ul>
<li>bit 24-31: set to 0</li>
<li>bit 16-23: Node ID of the monitored node. If 0 or greater than 127, sub-entry is not used.</li>
<li>bit 0-15: Heartbeat time in ms (if 0, sub-intry is not used). Value should be higher than the corresponding producer heartbeat time.</li>
</ul>
<h2>0x1017 - Producer heartbeat time</h2>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Object Type </th><th class="markdownTableHeadNone">Count Label </th><th class="markdownTableHeadNone">Storage Group </th><th class="markdownTableHeadNone">IO extension </th><th class="markdownTableHeadNone">PDO flags  </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">VAR </td><td class="markdownTableBodyNone">HB_PROD </td><td class="markdownTableBodyNone">PERSIST_COMM </td><td class="markdownTableBodyNone">True </td><td class="markdownTableBodyNone">False  </td></tr>
</table>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Data Type </th><th class="markdownTableHeadNone">SDO </th><th class="markdownTableHeadNone">PDO </th><th class="markdownTableHeadNone">SRDO </th><th class="markdownTableHeadNone">Default Value  </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">UNSIGNED16 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0  </td></tr>
</table>
<p>Heartbeat producer time in ms (0 = disable transmission).</p>
<h2>0x1018 - Identity</h2>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Object Type </th><th class="markdownTableHeadNone">Count Label </th><th class="markdownTableHeadNone">Storage Group </th><th class="markdownTableHeadNone">IO extension </th><th class="markdownTableHeadNone">PDO flags  </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">RECORD </td><td class="markdownTableBodyNone"></td><td class="markdownTableBodyNone">PERSIST_COMM </td><td class="markdownTableBodyNone">False </td><td class="markdownTableBodyNone">False  </td></tr>
</table>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Sub </th><th class="markdownTableHeadNone">Name </th><th class="markdownTableHeadNone">Data Type </th><th class="markdownTableHeadNone">SDO </th><th class="markdownTableHeadNone">PDO </th><th class="markdownTableHeadNone">SRDO </th><th class="markdownTableHeadNone">Default Value  </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x00 </td><td class="markdownTableBodyNone">Highest sub-index supported </td><td class="markdownTableBodyNone">UNSIGNED8 </td><td class="markdownTableBodyNone">ro </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x04  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x01 </td><td class="markdownTableBodyNone">Vendor-ID </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">ro </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x02 </td><td class="markdownTableBodyNone">Product code </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">ro </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x03 </td><td class="markdownTableBodyNone">Revision number </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">ro </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x04 </td><td class="markdownTableBodyNone">Serial number </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">ro </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
</table>
<ul>
<li>Vendor-ID, assigned by CiA</li>
<li>Product code, manufacturer specific</li>
<li>Revision number:<ul>
<li>bit 16-31: Major revision number (CANopen behavior has changed)</li>
<li>bit 0-15: Minor revision num. (CANopen behavior has not changed)</li>
</ul>
</li>
<li>Serial number, manufacturer specific</li>
</ul>
<h2>0x1019 - Synchronous counter overflow value</h2>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Object Type </th><th class="markdownTableHeadNone">Count Label </th><th class="markdownTableHeadNone">Storage Group </th><th class="markdownTableHeadNone">IO extension </th><th class="markdownTableHeadNone">PDO flags  </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">VAR </td><td class="markdownTableBodyNone"></td><td class="markdownTableBodyNone">PERSIST_COMM </td><td class="markdownTableBodyNone">False </td><td class="markdownTableBodyNone">False  </td></tr>
</table>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Data Type </th><th class="markdownTableHeadNone">SDO </th><th class="markdownTableHeadNone">PDO </th><th class="markdownTableHeadNone">SRDO </th><th class="markdownTableHeadNone">Default Value  </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">UNSIGNED8 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0  </td></tr>
</table>
<ul>
<li>Value 0: SYNC message is transmitted with data length 0.</li>
<li>Value 1: reserved.</li>
<li>Value 2-240: SYNC message has one data byte, which contains the counter.</li>
<li>Value 241-255: reserved.</li>
</ul>
<h2>0x1200 - SDO server parameter</h2>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Object Type </th><th class="markdownTableHeadNone">Count Label </th><th class="markdownTableHeadNone">Storage Group </th><th class="markdownTableHeadNone">IO extension </th><th class="markdownTableHeadNone">PDO flags  </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">RECORD </td><td class="markdownTableBodyNone">SDO_SRV </td><td class="markdownTableBodyNone">RAM </td><td class="markdownTableBodyNone">True </td><td class="markdownTableBodyNone">False  </td></tr>
</table>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Sub </th><th class="markdownTableHeadNone">Name </th><th class="markdownTableHeadNone">Data Type </th><th class="markdownTableHeadNone">SDO </th><th class="markdownTableHeadNone">PDO </th><th class="markdownTableHeadNone">SRDO </th><th class="markdownTableHeadNone">Default Value  </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x00 </td><td class="markdownTableBodyNone">Highest sub-index supported </td><td class="markdownTableBodyNone">UNSIGNED8 </td><td class="markdownTableBodyNone">ro </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">2  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x01 </td><td class="markdownTableBodyNone">COB-ID client to server (rx) </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">ro </td><td class="markdownTableBodyNone">t </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x600+$NODEID  </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x02 </td><td class="markdownTableBodyNone">COB-ID server to client (tx) </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">ro </td><td class="markdownTableBodyNone">t </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x580+$NODEID  </td></tr>
</table>
<p>Sub-indexes 1 and 2:</p><ul>
<li>bit 11-31: set to 0</li>
<li>bit 0-10: 11-bit CAN-ID</li>
</ul>
<h2>0x1280 - SDO client parameter</h2>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Object Type </th><th class="markdownTableHeadNone">Count Label </th><th class="markdownTableHeadNone">Storage Group </th><th class="markdownTableHeadNone">IO extension </th><th class="markdownTableHeadNone">PDO flags  </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">RECORD </td><td class="markdownTableBodyNone">SDO_CLI </td><td class="markdownTableBodyNone">PERSIST_COMM </td><td class="markdownTableBodyNone">True </td><td class="markdownTableBodyNone">False  </td></tr>
</table>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Sub </th><th class="markdownTableHeadNone">Name </th><th class="markdownTableHeadNone">Data Type </th><th class="markdownTableHeadNone">SDO </th><th class="markdownTableHeadNone">PDO </th><th class="markdownTableHeadNone">SRDO </th><th class="markdownTableHeadNone">Default Value  </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x00 </td><td class="markdownTableBodyNone">Highest sub-index supported </td><td class="markdownTableBodyNone">UNSIGNED8 </td><td class="markdownTableBodyNone">ro </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x03  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x01 </td><td class="markdownTableBodyNone">COB-ID client to server (tx) </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">tr </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x80000000  </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x02 </td><td class="markdownTableBodyNone">COB-ID server to client (rx) </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">tr </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x80000000  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x03 </td><td class="markdownTableBodyNone">Node-ID of the SDO server </td><td class="markdownTableBodyNone">UNSIGNED8 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x01  </td></tr>
</table>
<ul>
<li>Sub-indexes 1 and 2:<ul>
<li>bit 31: If set, SDO does NOT exist / is NOT valid</li>
<li>bit 30: If set, value is assigned dynamically</li>
<li>bit 11-29: set to 0</li>
<li>bit 0-10: 11-bit CAN-ID</li>
</ul>
</li>
<li>Node-ID of the SDO server, 0x01 to 0x7F</li>
</ul>
<h2>0x1400 - RPDO communication parameter</h2>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Object Type </th><th class="markdownTableHeadNone">Count Label </th><th class="markdownTableHeadNone">Storage Group </th><th class="markdownTableHeadNone">IO extension </th><th class="markdownTableHeadNone">PDO flags  </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">RECORD </td><td class="markdownTableBodyNone">RPDO </td><td class="markdownTableBodyNone">PERSIST_COMM </td><td class="markdownTableBodyNone">True </td><td class="markdownTableBodyNone">False  </td></tr>
</table>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Sub </th><th class="markdownTableHeadNone">Name </th><th class="markdownTableHeadNone">Data Type </th><th class="markdownTableHeadNone">SDO </th><th class="markdownTableHeadNone">PDO </th><th class="markdownTableHeadNone">SRDO </th><th class="markdownTableHeadNone">Default Value  </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x00 </td><td class="markdownTableBodyNone">Highest sub-index supported </td><td class="markdownTableBodyNone">UNSIGNED8 </td><td class="markdownTableBodyNone">ro </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x05  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x01 </td><td class="markdownTableBodyNone">COB-ID used by RPDO </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x80000200+$NODEID  </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x02 </td><td class="markdownTableBodyNone">Transmission type </td><td class="markdownTableBodyNone">UNSIGNED8 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">254  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x05 </td><td class="markdownTableBodyNone">Event timer </td><td class="markdownTableBodyNone">UNSIGNED16 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0  </td></tr>
</table>
<ul>
<li>COB-ID used by RPDO:<ul>
<li>bit 31: If set, PDO does not exist / is not valid</li>
<li>bit 11-30: set to 0</li>
<li>bit 0-10: 11-bit CAN-ID</li>
</ul>
</li>
<li>Transmission type:<ul>
<li>Value 0-240: synchronous, processed after next reception of SYNC object</li>
<li>Value 241-253: not used</li>
<li>Value 254: event-driven (manufacturer-specific)</li>
<li>Value 255: event-driven (device profile and application profile specific)</li>
</ul>
</li>
<li>Event timer in ms (0 = disabled) for deadline monitoring.</li>
</ul>
<h2>0x1401 - RPDO communication parameter</h2>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Object Type </th><th class="markdownTableHeadNone">Count Label </th><th class="markdownTableHeadNone">Storage Group </th><th class="markdownTableHeadNone">IO extension </th><th class="markdownTableHeadNone">PDO flags  </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">RECORD </td><td class="markdownTableBodyNone">RPDO </td><td class="markdownTableBodyNone">PERSIST_COMM </td><td class="markdownTableBodyNone">True </td><td class="markdownTableBodyNone">False  </td></tr>
</table>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Sub </th><th class="markdownTableHeadNone">Name </th><th class="markdownTableHeadNone">Data Type </th><th class="markdownTableHeadNone">SDO </th><th class="markdownTableHeadNone">PDO </th><th class="markdownTableHeadNone">SRDO </th><th class="markdownTableHeadNone">Default Value  </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x00 </td><td class="markdownTableBodyNone">Highest sub-index supported </td><td class="markdownTableBodyNone">UNSIGNED8 </td><td class="markdownTableBodyNone">ro </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x05  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x01 </td><td class="markdownTableBodyNone">COB-ID used by RPDO </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x80000300+$NODEID  </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x02 </td><td class="markdownTableBodyNone">Transmission type </td><td class="markdownTableBodyNone">UNSIGNED8 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">254  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x05 </td><td class="markdownTableBodyNone">Event timer </td><td class="markdownTableBodyNone">UNSIGNED16 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0  </td></tr>
</table>
<ul>
<li>COB-ID used by RPDO:<ul>
<li>bit 31: If set, PDO does not exist / is not valid</li>
<li>bit 11-30: set to 0</li>
<li>bit 0-10: 11-bit CAN-ID</li>
</ul>
</li>
<li>Transmission type:<ul>
<li>Value 0-240: synchronous, processed after next reception of SYNC object</li>
<li>Value 241-253: not used</li>
<li>Value 254: event-driven (manufacturer-specific)</li>
<li>Value 255: event-driven (device profile and application profile specific)</li>
</ul>
</li>
<li>Event timer in ms (0 = disabled) for deadline monitoring.</li>
</ul>
<h2>0x1402 - RPDO communication parameter</h2>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Object Type </th><th class="markdownTableHeadNone">Count Label </th><th class="markdownTableHeadNone">Storage Group </th><th class="markdownTableHeadNone">IO extension </th><th class="markdownTableHeadNone">PDO flags  </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">RECORD </td><td class="markdownTableBodyNone">RPDO </td><td class="markdownTableBodyNone">PERSIST_COMM </td><td class="markdownTableBodyNone">True </td><td class="markdownTableBodyNone">False  </td></tr>
</table>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Sub </th><th class="markdownTableHeadNone">Name </th><th class="markdownTableHeadNone">Data Type </th><th class="markdownTableHeadNone">SDO </th><th class="markdownTableHeadNone">PDO </th><th class="markdownTableHeadNone">SRDO </th><th class="markdownTableHeadNone">Default Value  </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x00 </td><td class="markdownTableBodyNone">Highest sub-index supported </td><td class="markdownTableBodyNone">UNSIGNED8 </td><td class="markdownTableBodyNone">ro </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x05  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x01 </td><td class="markdownTableBodyNone">COB-ID used by RPDO </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x80000400+$NODEID  </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x02 </td><td class="markdownTableBodyNone">Transmission type </td><td class="markdownTableBodyNone">UNSIGNED8 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">254  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x05 </td><td class="markdownTableBodyNone">Event timer </td><td class="markdownTableBodyNone">UNSIGNED16 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0  </td></tr>
</table>
<ul>
<li>COB-ID used by RPDO:<ul>
<li>bit 31: If set, PDO does not exist / is not valid</li>
<li>bit 11-30: set to 0</li>
<li>bit 0-10: 11-bit CAN-ID</li>
</ul>
</li>
<li>Transmission type:<ul>
<li>Value 0-240: synchronous, processed after next reception of SYNC object</li>
<li>Value 241-253: not used</li>
<li>Value 254: event-driven (manufacturer-specific)</li>
<li>Value 255: event-driven (device profile and application profile specific)</li>
</ul>
</li>
<li>Event timer in ms (0 = disabled) for deadline monitoring.</li>
</ul>
<h2>0x1403 - RPDO communication parameter</h2>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Object Type </th><th class="markdownTableHeadNone">Count Label </th><th class="markdownTableHeadNone">Storage Group </th><th class="markdownTableHeadNone">IO extension </th><th class="markdownTableHeadNone">PDO flags  </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">RECORD </td><td class="markdownTableBodyNone">RPDO </td><td class="markdownTableBodyNone">PERSIST_COMM </td><td class="markdownTableBodyNone">True </td><td class="markdownTableBodyNone">False  </td></tr>
</table>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Sub </th><th class="markdownTableHeadNone">Name </th><th class="markdownTableHeadNone">Data Type </th><th class="markdownTableHeadNone">SDO </th><th class="markdownTableHeadNone">PDO </th><th class="markdownTableHeadNone">SRDO </th><th class="markdownTableHeadNone">Default Value  </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x00 </td><td class="markdownTableBodyNone">Highest sub-index supported </td><td class="markdownTableBodyNone">UNSIGNED8 </td><td class="markdownTableBodyNone">ro </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x05  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x01 </td><td class="markdownTableBodyNone">COB-ID used by RPDO </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x80000500+$NODEID  </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x02 </td><td class="markdownTableBodyNone">Transmission type </td><td class="markdownTableBodyNone">UNSIGNED8 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">254  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x05 </td><td class="markdownTableBodyNone">Event timer </td><td class="markdownTableBodyNone">UNSIGNED16 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0  </td></tr>
</table>
<ul>
<li>COB-ID used by RPDO:<ul>
<li>bit 31: If set, PDO does not exist / is not valid</li>
<li>bit 11-30: set to 0</li>
<li>bit 0-10: 11-bit CAN-ID</li>
</ul>
</li>
<li>Transmission type:<ul>
<li>Value 0-240: synchronous, processed after next reception of SYNC object</li>
<li>Value 241-253: not used</li>
<li>Value 254: event-driven (manufacturer-specific)</li>
<li>Value 255: event-driven (device profile and application profile specific)</li>
</ul>
</li>
<li>Event timer in ms (0 = disabled) for deadline monitoring.</li>
</ul>
<h2>0x1600 - RPDO mapping parameter</h2>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Object Type </th><th class="markdownTableHeadNone">Count Label </th><th class="markdownTableHeadNone">Storage Group </th><th class="markdownTableHeadNone">IO extension </th><th class="markdownTableHeadNone">PDO flags  </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">RECORD </td><td class="markdownTableBodyNone"></td><td class="markdownTableBodyNone">PERSIST_COMM </td><td class="markdownTableBodyNone">True </td><td class="markdownTableBodyNone">False  </td></tr>
</table>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Sub </th><th class="markdownTableHeadNone">Name </th><th class="markdownTableHeadNone">Data Type </th><th class="markdownTableHeadNone">SDO </th><th class="markdownTableHeadNone">PDO </th><th class="markdownTableHeadNone">SRDO </th><th class="markdownTableHeadNone">Default Value  </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x00 </td><td class="markdownTableBodyNone">Number of mapped application objects in PDO </td><td class="markdownTableBodyNone">UNSIGNED8 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x01 </td><td class="markdownTableBodyNone">Application object 1 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x02 </td><td class="markdownTableBodyNone">Application object 2 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x03 </td><td class="markdownTableBodyNone">Application object 3 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x04 </td><td class="markdownTableBodyNone">Application object 4 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x05 </td><td class="markdownTableBodyNone">Application object 5 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x06 </td><td class="markdownTableBodyNone">Application object 6 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x07 </td><td class="markdownTableBodyNone">Application object 7 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x08 </td><td class="markdownTableBodyNone">Application object 8 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
</table>
<ul>
<li>Number of mapped application objects in PDO:<ul>
<li>Value 0: mapping is disabled.</li>
<li>Value 1: sub-index 0x01 is valid.</li>
<li>Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid.</li>
</ul>
</li>
<li>Application object 1-8:<ul>
<li>bit 16-31: index</li>
<li>bit 8-15: sub-index</li>
<li>bit 0-7: data length in bits</li>
</ul>
</li>
</ul>
<h2>0x1601 - RPDO mapping parameter</h2>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Object Type </th><th class="markdownTableHeadNone">Count Label </th><th class="markdownTableHeadNone">Storage Group </th><th class="markdownTableHeadNone">IO extension </th><th class="markdownTableHeadNone">PDO flags  </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">RECORD </td><td class="markdownTableBodyNone"></td><td class="markdownTableBodyNone">PERSIST_COMM </td><td class="markdownTableBodyNone">True </td><td class="markdownTableBodyNone">False  </td></tr>
</table>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Sub </th><th class="markdownTableHeadNone">Name </th><th class="markdownTableHeadNone">Data Type </th><th class="markdownTableHeadNone">SDO </th><th class="markdownTableHeadNone">PDO </th><th class="markdownTableHeadNone">SRDO </th><th class="markdownTableHeadNone">Default Value  </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x00 </td><td class="markdownTableBodyNone">Number of mapped application objects in PDO </td><td class="markdownTableBodyNone">UNSIGNED8 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x01 </td><td class="markdownTableBodyNone">Application object 1 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x02 </td><td class="markdownTableBodyNone">Application object 2 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x03 </td><td class="markdownTableBodyNone">Application object 3 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x04 </td><td class="markdownTableBodyNone">Application object 4 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x05 </td><td class="markdownTableBodyNone">Application object 5 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x06 </td><td class="markdownTableBodyNone">Application object 6 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x07 </td><td class="markdownTableBodyNone">Application object 7 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x08 </td><td class="markdownTableBodyNone">Application object 8 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
</table>
<ul>
<li>Number of mapped application objects in PDO:<ul>
<li>Value 0: mapping is disabled.</li>
<li>Value 1: sub-index 0x01 is valid.</li>
<li>Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid.</li>
</ul>
</li>
<li>Application object 1-8:<ul>
<li>bit 16-31: index</li>
<li>bit 8-15: sub-index</li>
<li>bit 0-7: data length in bits</li>
</ul>
</li>
</ul>
<h2>0x1602 - RPDO mapping parameter</h2>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Object Type </th><th class="markdownTableHeadNone">Count Label </th><th class="markdownTableHeadNone">Storage Group </th><th class="markdownTableHeadNone">IO extension </th><th class="markdownTableHeadNone">PDO flags  </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">RECORD </td><td class="markdownTableBodyNone"></td><td class="markdownTableBodyNone">PERSIST_COMM </td><td class="markdownTableBodyNone">True </td><td class="markdownTableBodyNone">False  </td></tr>
</table>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Sub </th><th class="markdownTableHeadNone">Name </th><th class="markdownTableHeadNone">Data Type </th><th class="markdownTableHeadNone">SDO </th><th class="markdownTableHeadNone">PDO </th><th class="markdownTableHeadNone">SRDO </th><th class="markdownTableHeadNone">Default Value  </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x00 </td><td class="markdownTableBodyNone">Number of mapped application objects in PDO </td><td class="markdownTableBodyNone">UNSIGNED8 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x01 </td><td class="markdownTableBodyNone">Application object 1 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x02 </td><td class="markdownTableBodyNone">Application object 2 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x03 </td><td class="markdownTableBodyNone">Application object 3 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x04 </td><td class="markdownTableBodyNone">Application object 4 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x05 </td><td class="markdownTableBodyNone">Application object 5 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x06 </td><td class="markdownTableBodyNone">Application object 6 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x07 </td><td class="markdownTableBodyNone">Application object 7 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x08 </td><td class="markdownTableBodyNone">Application object 8 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
</table>
<ul>
<li>Number of mapped application objects in PDO:<ul>
<li>Value 0: mapping is disabled.</li>
<li>Value 1: sub-index 0x01 is valid.</li>
<li>Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid.</li>
</ul>
</li>
<li>Application object 1-8:<ul>
<li>bit 16-31: index</li>
<li>bit 8-15: sub-index</li>
<li>bit 0-7: data length in bits</li>
</ul>
</li>
</ul>
<h2>0x1603 - RPDO mapping parameter</h2>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Object Type </th><th class="markdownTableHeadNone">Count Label </th><th class="markdownTableHeadNone">Storage Group </th><th class="markdownTableHeadNone">IO extension </th><th class="markdownTableHeadNone">PDO flags  </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">RECORD </td><td class="markdownTableBodyNone"></td><td class="markdownTableBodyNone">PERSIST_COMM </td><td class="markdownTableBodyNone">True </td><td class="markdownTableBodyNone">False  </td></tr>
</table>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Sub </th><th class="markdownTableHeadNone">Name </th><th class="markdownTableHeadNone">Data Type </th><th class="markdownTableHeadNone">SDO </th><th class="markdownTableHeadNone">PDO </th><th class="markdownTableHeadNone">SRDO </th><th class="markdownTableHeadNone">Default Value  </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x00 </td><td class="markdownTableBodyNone">Number of mapped application objects in PDO </td><td class="markdownTableBodyNone">UNSIGNED8 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x01 </td><td class="markdownTableBodyNone">Application object 1 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x02 </td><td class="markdownTableBodyNone">Application object 2 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x03 </td><td class="markdownTableBodyNone">Application object 3 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x04 </td><td class="markdownTableBodyNone">Application object 4 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x05 </td><td class="markdownTableBodyNone">Application object 5 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x06 </td><td class="markdownTableBodyNone">Application object 6 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x07 </td><td class="markdownTableBodyNone">Application object 7 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x08 </td><td class="markdownTableBodyNone">Application object 8 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
</table>
<ul>
<li>Number of mapped application objects in PDO:<ul>
<li>Value 0: mapping is disabled.</li>
<li>Value 1: sub-index 0x01 is valid.</li>
<li>Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid.</li>
</ul>
</li>
<li>Application object 1-8:<ul>
<li>bit 16-31: index</li>
<li>bit 8-15: sub-index</li>
<li>bit 0-7: data length in bits</li>
</ul>
</li>
</ul>
<h2>0x1800 - TPDO communication parameter</h2>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Object Type </th><th class="markdownTableHeadNone">Count Label </th><th class="markdownTableHeadNone">Storage Group </th><th class="markdownTableHeadNone">IO extension </th><th class="markdownTableHeadNone">PDO flags  </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">RECORD </td><td class="markdownTableBodyNone">TPDO </td><td class="markdownTableBodyNone">PERSIST_COMM </td><td class="markdownTableBodyNone">True </td><td class="markdownTableBodyNone">False  </td></tr>
</table>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Sub </th><th class="markdownTableHeadNone">Name </th><th class="markdownTableHeadNone">Data Type </th><th class="markdownTableHeadNone">SDO </th><th class="markdownTableHeadNone">PDO </th><th class="markdownTableHeadNone">SRDO </th><th class="markdownTableHeadNone">Default Value  </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x00 </td><td class="markdownTableBodyNone">Highest sub-index supported </td><td class="markdownTableBodyNone">UNSIGNED8 </td><td class="markdownTableBodyNone">ro </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x06  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x01 </td><td class="markdownTableBodyNone">COB-ID used by TPDO </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0xC0000180+$NODEID  </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x02 </td><td class="markdownTableBodyNone">Transmission type </td><td class="markdownTableBodyNone">UNSIGNED8 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">254  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x03 </td><td class="markdownTableBodyNone">Inhibit time </td><td class="markdownTableBodyNone">UNSIGNED16 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0  </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x05 </td><td class="markdownTableBodyNone">Event timer </td><td class="markdownTableBodyNone">UNSIGNED16 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x06 </td><td class="markdownTableBodyNone">SYNC start value </td><td class="markdownTableBodyNone">UNSIGNED8 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0  </td></tr>
</table>
<ul>
<li>COB-ID used by RPDO:<ul>
<li>bit 31: If set, PDO does not exist / is not valid</li>
<li>bit 30: If set, NO RTR is allowed on this PDO</li>
<li>bit 11-29: set to 0</li>
<li>bit 0-10: 11-bit CAN-ID</li>
</ul>
</li>
<li>Transmission type:<ul>
<li>Value 0: synchronous (acyclic)</li>
<li>Value 1-240: synchronous (cyclic every (1-240)-th sync)</li>
<li>Value 241-253: not used</li>
<li>Value 254: event-driven (manufacturer-specific)</li>
<li>Value 255: event-driven (device profile and application profile specific)</li>
</ul>
</li>
<li>Inhibit time in multiple of 100µs, if the transmission type is set to 254 or 255 (0 = disabled).</li>
<li>Event timer interval in ms, if the transmission type is set to 254 or 255 (0 = disabled).</li>
<li>SYNC start value<ul>
<li>Value 0: Counter of the SYNC message shall not be processed.</li>
<li>Value 1-240: The SYNC message with the counter value equal to this value shall be regarded as the first received SYNC message.</li>
</ul>
</li>
</ul>
<h2>0x1801 - TPDO communication parameter</h2>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Object Type </th><th class="markdownTableHeadNone">Count Label </th><th class="markdownTableHeadNone">Storage Group </th><th class="markdownTableHeadNone">IO extension </th><th class="markdownTableHeadNone">PDO flags  </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">RECORD </td><td class="markdownTableBodyNone">TPDO </td><td class="markdownTableBodyNone">PERSIST_COMM </td><td class="markdownTableBodyNone">True </td><td class="markdownTableBodyNone">False  </td></tr>
</table>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Sub </th><th class="markdownTableHeadNone">Name </th><th class="markdownTableHeadNone">Data Type </th><th class="markdownTableHeadNone">SDO </th><th class="markdownTableHeadNone">PDO </th><th class="markdownTableHeadNone">SRDO </th><th class="markdownTableHeadNone">Default Value  </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x00 </td><td class="markdownTableBodyNone">Highest sub-index supported </td><td class="markdownTableBodyNone">UNSIGNED8 </td><td class="markdownTableBodyNone">ro </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x06  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x01 </td><td class="markdownTableBodyNone">COB-ID used by TPDO </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0xC0000280+$NODEID  </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x02 </td><td class="markdownTableBodyNone">Transmission type </td><td class="markdownTableBodyNone">UNSIGNED8 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">254  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x03 </td><td class="markdownTableBodyNone">Inhibit time </td><td class="markdownTableBodyNone">UNSIGNED16 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0  </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x05 </td><td class="markdownTableBodyNone">Event timer </td><td class="markdownTableBodyNone">UNSIGNED16 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x06 </td><td class="markdownTableBodyNone">SYNC start value </td><td class="markdownTableBodyNone">UNSIGNED8 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0  </td></tr>
</table>
<ul>
<li>COB-ID used by RPDO:<ul>
<li>bit 31: If set, PDO does not exist / is not valid</li>
<li>bit 30: If set, NO RTR is allowed on this PDO</li>
<li>bit 11-29: set to 0</li>
<li>bit 0-10: 11-bit CAN-ID</li>
</ul>
</li>
<li>Transmission type:<ul>
<li>Value 0: synchronous (acyclic)</li>
<li>Value 1-240: synchronous (cyclic every (1-240)-th sync)</li>
<li>Value 241-253: not used</li>
<li>Value 254: event-driven (manufacturer-specific)</li>
<li>Value 255: event-driven (device profile and application profile specific)</li>
</ul>
</li>
<li>Inhibit time in multiple of 100µs, if the transmission type is set to 254 or 255 (0 = disabled).</li>
<li>Event timer interval in ms, if the transmission type is set to 254 or 255 (0 = disabled).</li>
<li>SYNC start value<ul>
<li>Value 0: Counter of the SYNC message shall not be processed.</li>
<li>Value 1-240: The SYNC message with the counter value equal to this value shall be regarded as the first received SYNC message.</li>
</ul>
</li>
</ul>
<h2>0x1802 - TPDO communication parameter</h2>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Object Type </th><th class="markdownTableHeadNone">Count Label </th><th class="markdownTableHeadNone">Storage Group </th><th class="markdownTableHeadNone">IO extension </th><th class="markdownTableHeadNone">PDO flags  </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">RECORD </td><td class="markdownTableBodyNone">TPDO </td><td class="markdownTableBodyNone">PERSIST_COMM </td><td class="markdownTableBodyNone">True </td><td class="markdownTableBodyNone">False  </td></tr>
</table>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Sub </th><th class="markdownTableHeadNone">Name </th><th class="markdownTableHeadNone">Data Type </th><th class="markdownTableHeadNone">SDO </th><th class="markdownTableHeadNone">PDO </th><th class="markdownTableHeadNone">SRDO </th><th class="markdownTableHeadNone">Default Value  </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x00 </td><td class="markdownTableBodyNone">Highest sub-index supported </td><td class="markdownTableBodyNone">UNSIGNED8 </td><td class="markdownTableBodyNone">ro </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x06  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x01 </td><td class="markdownTableBodyNone">COB-ID used by TPDO </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0xC0000380+$NODEID  </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x02 </td><td class="markdownTableBodyNone">Transmission type </td><td class="markdownTableBodyNone">UNSIGNED8 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">254  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x03 </td><td class="markdownTableBodyNone">Inhibit time </td><td class="markdownTableBodyNone">UNSIGNED16 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0  </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x05 </td><td class="markdownTableBodyNone">Event timer </td><td class="markdownTableBodyNone">UNSIGNED16 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x06 </td><td class="markdownTableBodyNone">SYNC start value </td><td class="markdownTableBodyNone">UNSIGNED8 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0  </td></tr>
</table>
<ul>
<li>COB-ID used by RPDO:<ul>
<li>bit 31: If set, PDO does not exist / is not valid</li>
<li>bit 30: If set, NO RTR is allowed on this PDO</li>
<li>bit 11-29: set to 0</li>
<li>bit 0-10: 11-bit CAN-ID</li>
</ul>
</li>
<li>Transmission type:<ul>
<li>Value 0: synchronous (acyclic)</li>
<li>Value 1-240: synchronous (cyclic every (1-240)-th sync)</li>
<li>Value 241-253: not used</li>
<li>Value 254: event-driven (manufacturer-specific)</li>
<li>Value 255: event-driven (device profile and application profile specific)</li>
</ul>
</li>
<li>Inhibit time in multiple of 100µs, if the transmission type is set to 254 or 255 (0 = disabled).</li>
<li>Event timer interval in ms, if the transmission type is set to 254 or 255 (0 = disabled).</li>
<li>SYNC start value<ul>
<li>Value 0: Counter of the SYNC message shall not be processed.</li>
<li>Value 1-240: The SYNC message with the counter value equal to this value shall be regarded as the first received SYNC message.</li>
</ul>
</li>
</ul>
<h2>0x1803 - TPDO communication parameter</h2>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Object Type </th><th class="markdownTableHeadNone">Count Label </th><th class="markdownTableHeadNone">Storage Group </th><th class="markdownTableHeadNone">IO extension </th><th class="markdownTableHeadNone">PDO flags  </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">RECORD </td><td class="markdownTableBodyNone">TPDO </td><td class="markdownTableBodyNone">PERSIST_COMM </td><td class="markdownTableBodyNone">True </td><td class="markdownTableBodyNone">False  </td></tr>
</table>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Sub </th><th class="markdownTableHeadNone">Name </th><th class="markdownTableHeadNone">Data Type </th><th class="markdownTableHeadNone">SDO </th><th class="markdownTableHeadNone">PDO </th><th class="markdownTableHeadNone">SRDO </th><th class="markdownTableHeadNone">Default Value  </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x00 </td><td class="markdownTableBodyNone">Highest sub-index supported </td><td class="markdownTableBodyNone">UNSIGNED8 </td><td class="markdownTableBodyNone">ro </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x06  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x01 </td><td class="markdownTableBodyNone">COB-ID used by TPDO </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0xC0000480+$NODEID  </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x02 </td><td class="markdownTableBodyNone">Transmission type </td><td class="markdownTableBodyNone">UNSIGNED8 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">254  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x03 </td><td class="markdownTableBodyNone">Inhibit time </td><td class="markdownTableBodyNone">UNSIGNED16 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0  </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x05 </td><td class="markdownTableBodyNone">Event timer </td><td class="markdownTableBodyNone">UNSIGNED16 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x06 </td><td class="markdownTableBodyNone">SYNC start value </td><td class="markdownTableBodyNone">UNSIGNED8 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0  </td></tr>
</table>
<ul>
<li>COB-ID used by RPDO:<ul>
<li>bit 31: If set, PDO does not exist / is not valid</li>
<li>bit 30: If set, NO RTR is allowed on this PDO</li>
<li>bit 11-29: set to 0</li>
<li>bit 0-10: 11-bit CAN-ID</li>
</ul>
</li>
<li>Transmission type:<ul>
<li>Value 0: synchronous (acyclic)</li>
<li>Value 1-240: synchronous (cyclic every (1-240)-th sync)</li>
<li>Value 241-253: not used</li>
<li>Value 254: event-driven (manufacturer-specific)</li>
<li>Value 255: event-driven (device profile and application profile specific)</li>
</ul>
</li>
<li>Inhibit time in multiple of 100µs, if the transmission type is set to 254 or 255 (0 = disabled).</li>
<li>Event timer interval in ms, if the transmission type is set to 254 or 255 (0 = disabled).</li>
<li>SYNC start value<ul>
<li>Value 0: Counter of the SYNC message shall not be processed.</li>
<li>Value 1-240: The SYNC message with the counter value equal to this value shall be regarded as the first received SYNC message.</li>
</ul>
</li>
</ul>
<h2>0x1A00 - TPDO mapping parameter</h2>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Object Type </th><th class="markdownTableHeadNone">Count Label </th><th class="markdownTableHeadNone">Storage Group </th><th class="markdownTableHeadNone">IO extension </th><th class="markdownTableHeadNone">PDO flags  </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">RECORD </td><td class="markdownTableBodyNone"></td><td class="markdownTableBodyNone">PERSIST_COMM </td><td class="markdownTableBodyNone">True </td><td class="markdownTableBodyNone">False  </td></tr>
</table>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Sub </th><th class="markdownTableHeadNone">Name </th><th class="markdownTableHeadNone">Data Type </th><th class="markdownTableHeadNone">SDO </th><th class="markdownTableHeadNone">PDO </th><th class="markdownTableHeadNone">SRDO </th><th class="markdownTableHeadNone">Default Value  </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x00 </td><td class="markdownTableBodyNone">Number of mapped application objects in PDO </td><td class="markdownTableBodyNone">UNSIGNED8 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x01 </td><td class="markdownTableBodyNone">Application object 1 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x02 </td><td class="markdownTableBodyNone">Application object 2 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x03 </td><td class="markdownTableBodyNone">Application object 3 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x04 </td><td class="markdownTableBodyNone">Application object 4 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x05 </td><td class="markdownTableBodyNone">Application object 5 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x06 </td><td class="markdownTableBodyNone">Application object 6 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x07 </td><td class="markdownTableBodyNone">Application object 7 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x08 </td><td class="markdownTableBodyNone">Application object 8 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
</table>
<ul>
<li>Number of mapped application objects in PDO:<ul>
<li>Value 0: mapping is disabled.</li>
<li>Value 1: sub-index 0x01 is valid.</li>
<li>Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid.</li>
</ul>
</li>
<li>Application object 1-8:<ul>
<li>bit 16-31: index</li>
<li>bit 8-15: sub-index</li>
<li>bit 0-7: data length in bits</li>
</ul>
</li>
</ul>
<h2>0x1A01 - TPDO mapping parameter</h2>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Object Type </th><th class="markdownTableHeadNone">Count Label </th><th class="markdownTableHeadNone">Storage Group </th><th class="markdownTableHeadNone">IO extension </th><th class="markdownTableHeadNone">PDO flags  </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">RECORD </td><td class="markdownTableBodyNone"></td><td class="markdownTableBodyNone">PERSIST_COMM </td><td class="markdownTableBodyNone">True </td><td class="markdownTableBodyNone">False  </td></tr>
</table>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Sub </th><th class="markdownTableHeadNone">Name </th><th class="markdownTableHeadNone">Data Type </th><th class="markdownTableHeadNone">SDO </th><th class="markdownTableHeadNone">PDO </th><th class="markdownTableHeadNone">SRDO </th><th class="markdownTableHeadNone">Default Value  </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x00 </td><td class="markdownTableBodyNone">Number of mapped application objects in PDO </td><td class="markdownTableBodyNone">UNSIGNED8 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x01 </td><td class="markdownTableBodyNone">Application object 1 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x02 </td><td class="markdownTableBodyNone">Application object 2 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x03 </td><td class="markdownTableBodyNone">Application object 3 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x04 </td><td class="markdownTableBodyNone">Application object 4 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x05 </td><td class="markdownTableBodyNone">Application object 5 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x06 </td><td class="markdownTableBodyNone">Application object 6 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x07 </td><td class="markdownTableBodyNone">Application object 7 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x08 </td><td class="markdownTableBodyNone">Application object 8 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
</table>
<ul>
<li>Number of mapped application objects in PDO:<ul>
<li>Value 0: mapping is disabled.</li>
<li>Value 1: sub-index 0x01 is valid.</li>
<li>Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid.</li>
</ul>
</li>
<li>Application object 1-8:<ul>
<li>bit 16-31: index</li>
<li>bit 8-15: sub-index</li>
<li>bit 0-7: data length in bits</li>
</ul>
</li>
</ul>
<h2>0x1A02 - TPDO mapping parameter</h2>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Object Type </th><th class="markdownTableHeadNone">Count Label </th><th class="markdownTableHeadNone">Storage Group </th><th class="markdownTableHeadNone">IO extension </th><th class="markdownTableHeadNone">PDO flags  </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">RECORD </td><td class="markdownTableBodyNone"></td><td class="markdownTableBodyNone">PERSIST_COMM </td><td class="markdownTableBodyNone">True </td><td class="markdownTableBodyNone">False  </td></tr>
</table>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Sub </th><th class="markdownTableHeadNone">Name </th><th class="markdownTableHeadNone">Data Type </th><th class="markdownTableHeadNone">SDO </th><th class="markdownTableHeadNone">PDO </th><th class="markdownTableHeadNone">SRDO </th><th class="markdownTableHeadNone">Default Value  </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x00 </td><td class="markdownTableBodyNone">Number of mapped application objects in PDO </td><td class="markdownTableBodyNone">UNSIGNED8 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x01 </td><td class="markdownTableBodyNone">Application object 1 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x02 </td><td class="markdownTableBodyNone">Application object 2 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x03 </td><td class="markdownTableBodyNone">Application object 3 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x04 </td><td class="markdownTableBodyNone">Application object 4 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x05 </td><td class="markdownTableBodyNone">Application object 5 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x06 </td><td class="markdownTableBodyNone">Application object 6 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x07 </td><td class="markdownTableBodyNone">Application object 7 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x08 </td><td class="markdownTableBodyNone">Application object 8 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
</table>
<ul>
<li>Number of mapped application objects in PDO:<ul>
<li>Value 0: mapping is disabled.</li>
<li>Value 1: sub-index 0x01 is valid.</li>
<li>Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid.</li>
</ul>
</li>
<li>Application object 1-8:<ul>
<li>bit 16-31: index</li>
<li>bit 8-15: sub-index</li>
<li>bit 0-7: data length in bits</li>
</ul>
</li>
</ul>
<h2>0x1A03 - TPDO mapping parameter</h2>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Object Type </th><th class="markdownTableHeadNone">Count Label </th><th class="markdownTableHeadNone">Storage Group </th><th class="markdownTableHeadNone">IO extension </th><th class="markdownTableHeadNone">PDO flags  </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">RECORD </td><td class="markdownTableBodyNone"></td><td class="markdownTableBodyNone">PERSIST_COMM </td><td class="markdownTableBodyNone">True </td><td class="markdownTableBodyNone">False  </td></tr>
</table>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadNone">Sub </th><th class="markdownTableHeadNone">Name </th><th class="markdownTableHeadNone">Data Type </th><th class="markdownTableHeadNone">SDO </th><th class="markdownTableHeadNone">PDO </th><th class="markdownTableHeadNone">SRDO </th><th class="markdownTableHeadNone">Default Value  </th></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x00 </td><td class="markdownTableBodyNone">Number of mapped application objects in PDO </td><td class="markdownTableBodyNone">UNSIGNED8 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x01 </td><td class="markdownTableBodyNone">Application object 1 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x02 </td><td class="markdownTableBodyNone">Application object 2 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x03 </td><td class="markdownTableBodyNone">Application object 3 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x04 </td><td class="markdownTableBodyNone">Application object 4 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x05 </td><td class="markdownTableBodyNone">Application object 5 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x06 </td><td class="markdownTableBodyNone">Application object 6 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone">0x07 </td><td class="markdownTableBodyNone">Application object 7 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
<tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone">0x08 </td><td class="markdownTableBodyNone">Application object 8 </td><td class="markdownTableBodyNone">UNSIGNED32 </td><td class="markdownTableBodyNone">rw </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">no </td><td class="markdownTableBodyNone">0x00000000  </td></tr>
</table>
<ul>
<li>Number of mapped application objects in PDO:<ul>
<li>Value 0: mapping is disabled.</li>
<li>Value 1: sub-index 0x01 is valid.</li>
<li>Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid.</li>
</ul>
</li>
<li>Application object 1-8:<ul>
<li>bit 16-31: index</li>
<li>bit 8-15: sub-index</li>
<li>bit 0-7: data length in bits </li>
</ul>
</li>
</ul>
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